Title :
Formation control with potential functions and Newton´s iteration
Author :
Hanay, Y. Sinan ; Hunerli, H. Volkan ; Koksal, M. Ilter ; Samiloglu, Andac T. ; Gazi, Veysel
Author_Institution :
Dept. of Electr. & Electron. Eng., TOBB Univ. of Econ. & Technol. (ETU), Ankara, Turkey
Abstract :
In this study, we analyze formation control (formation of a geometrical shape) of an autonomous multi-robot system with the use of artificial potential functions and Newton´s iteration. The method is independent of the low-level vehicle dynamics of the robots and therefore it can be applied to different type of robots. We also perform numerical simulations to examine the performance of the method.
Keywords :
Newton method; computational geometry; mobile robots; multi-robot systems; robot dynamics; Newton iteration; artificial potential functions; autonomous multirobot system; geometrical shape formation control; low-level vehicle dynamics; numerical simulations; Convergence; Mathematical model; Oscillators; Polynomials; Robot kinematics; Vectors;
Conference_Titel :
Control Conference (ECC), 2007 European
Conference_Location :
Kos
Print_ISBN :
978-3-9524173-8-6
